Research And Development Of Single Drive Dodge Robot

Compared with ordinary robots,humanoid robots have higher flexibility,more similar behaviors to human beings,and can assist or perform human dangerous tasks in special situations.It is one of the most important branches in the field of robotics.In recent years,as the level of science and technology has greatly improved,countries around the world have invested tremendous energy in the development of humanoid robots.Humanoid robots have achieved unprecedented development,more and more functions have been realized and the ability to adapt to unknown environment has also increased.However,there are few researches on the structural design of robots;the multi-modal motion also puts forward many special requirements on the core mechanical structure of the robot's body structure design and high-precision transmission mechanism.Based on this,the thesis mainly designs a humanoid robot with dodge function.The research on the trunk structure of the robot is carried out.The physical assembly of the robot and the experimental test of the dodge function of the robot are performed to verify the rationality of the structure design.First of all,through reading a large amount of literature,we understand the development status of humanoid robots at home and abroad,analyze the structural design of the current mainstream humanoid robots,and-a humanoid robot structure with dodge function is designed according to the dodge motion of the human torso.The component module is selected for design.Based on the limits of stability of the human body structure and the human emergency response time,the dodging displacement and dodging time of the robot are preliminarily set.By comparing and analyzing the movement speed and time of the robot under various conditions,the robot's best dodging motion and related movement parameters are determined.Secondly,the research and analysis of kinematics and dynamics are performed on dodging robots.The D-H method is used to establish a spatial coordinate system based on each joint.The pose matrix of different parts of the robot is obtained according to the pose transformation of the space rigid body,and the kinematics model of different parts of the robot is established.Finally,the kinematics forward solution of each part of the robot is calculated and validated.Based on it,the kinematic inverse solution of each part of the robot is obtained by the inverse transformation method.By analyzing the advantages and disadvantages of several commonly used methods on robot dynamic modeling and combining the structural features of the robot,this thesis chooses the Lagrange's Equation to study the dynamics of the robot,and a generalized coordinate system based on robotic kinematic joints are established,the kinematic variables of each joints are selected as generalized coordinates,the dynamic models of different parts of the robot are derived,and the kinematics equations of different kinematic joints in different parts of the robot are obtained.Finally,the assembly structure of the dodge robot is constructed and simplified by using SolidWorks,and the virtual prototype model of the dodge robot is built in ADAMS software.According to design requirements,define the material properties of each component;add constraints,create drives,and apply friction based on structural relationships.Through kinematics and dynamics simulation analysis,the ADAMS Post-Processing module is used to extract the results,and the kinematic angular velocity curve,motion displacement curve and torque curve of different joints in different dodge motions of the humanoid robot are obtained.Through ADAMS simulation and MATLAB software,the robot's dodge motion trajectory is finally obtained;then the robot's physical assembly is completed and experimental measurements are performed,and the actual movement speed and actual torque value of each joint of the robot are obtained.Through comparison with mathematical calculations and theoretical simulations,it is verified that the rationality of the robot's structural design and can meet the requirements of dodging action.